Lightweight SE(2)/SE(3) types, geometry functions.

Overview

Lightweight SE(2)/SE(3) data types, geometry functions, etc.

The “lightweight” adjective is used here in contrast to classes derived from mrpt::poses::CPoseOrPoint. The “lightweight” alternative types here, defined in mrpt::math, are simple C++ structures without special memory alignment requirements and without a deep hiearchy of class inheritance, as the “heavier” classes in mrpt::poses have. In turn, the latter ones offer:

• Serialization (see: [mrpt-serialization])

• Buffered trigronometric calculations (e.g. mrpt::poses::CPose3D), hence they will be preferred to lightweight alternaives (e.g. mrpt::math::TPose3D) if the same pose is to be used over and over again to transform multiple points/poses.

See list of classes below.